| 研究課題/領域番号 |
19K14948
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| 研究機関 | 早稲田大学 |
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研究代表者 |
Somlor Sophon 早稲田大学, 理工学術院総合研究所(理工学研究所), 次席研究員(研究院講師) (40791231)
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| 研究期間 (年度) |
2019-04-01 – 2023-03-31
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| キーワード | Tactile sensor / Proximity sensor / Capacitive sensor |
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| 研究実績の概要 |
A low-cost compliant capacitive Force/proximity sensor called "Safe Skin" has been developed. The sensor can sense the distance up to 400 mm and the force up to 40 N. The sensor was tested and its result was published in IROS 2021. Three sizes of sensors were tested to evaluate their performance. The size of 120 x 120 gives the best performance. Afterward, the sensor has been tested on an actual robotic arm. The objective of the test is to determine any external disturbances that could influent the sensor. Several units of the sensor have been installed on the robot to test their integration.
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| 現在までの達成度 (区分) |
現在までの達成度 (区分)
2: おおむね順調に進展している
理由
The sensors has been developed as planned. It has been then tested on the robot for effective integration on a robotic arm.
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| 今後の研究の推進方策 |
Several units of the sensors that are already integrated on a robotic arm will be tested, the interferences from either the robot and environment will be studied. Several issues such as self sensing will be dealt with.
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| 次年度使用額が生じた理由 |
To make more units of the sensors so that the sensors can cover a robotic arm.
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